基于非奇异终端滑模的多飞行机械臂时延协同控制OA
Time-Delay Collaborative Control of Multiple Aerial Manipulators Using Nonsingular Terminal Sliding Mode
为提高多飞行机械臂系统在复杂综合扰动下的轨迹跟踪精度、同步协调能力和鲁棒控制性能,针对系统非线性强、耦合关系复杂及外部扰动不确定等问题,本文提出了一种基于时延估计(Time-delay estimation,TDE)、偏差耦合控制(Deviation coupling control,DCC)和非奇异终端滑模(Nonsingular terminal sliding,NTSM)的控制方法.该方法利用时延估计对系统未知动态和综合扰动进行在线补偿,引入偏差耦合控制增强多飞行机械臂之间的协调同步能力,并结合非奇异终端滑模控制提高系统的收敛速度和鲁棒性.同时,基于李雅普诺夫稳定性理论对所设计控制器的稳定性进行了证明.随后,基于多飞行机械臂系统开展对比实验,并以绝对误差积分(Integral of absolute error,IAE)、时间加权绝对误差积分(Integral of time-weighted absolute error,ITAE)和平方误差积分(Integral of squared error,ISE)作为性能评价指标.实验结果表明,与基于TDE的PID控制器相比,所提控制器在IAE、ITAE和ISE指标上分别至少降低了45.8%、44.1%和66.5%,能够有效提升多飞行机械臂系统在复杂扰动条件下的跟踪精度、同步性能和整体控制效果.
To enhance the overall performance of multiple aerial manipulators under complex lumped disturbances,a nonsingular terminal sliding mode(NTSM)controller based on time-delay estimation(TDE)and deviation coupling control(DCC)is proposed.The stability of the controller is proven using the Lyapunov stability theory.Comparative experiments are conducted using a system of multiple aerial manipulators.The results demonstrate that,compared with a PID controller based on TDE,the proposed controller reduces the integral of absolute error(IAE),integral of time-weighted absolute error(ITAE),and integral of squared error(ISE)by at least 45.8%,44.1%,and 66.5%respectively,thereby achieving superior overall control performance.
吴志雨;王尧尧;王汉卓;陈家旺;孙立壮
南京航空航天大学机电学院,南京 210016,中国南京航空航天大学机电学院,南京 210016,中国||机械结构力学及控制国家重点实验室,南京 210016,中国南京航空航天大学机电学院,南京 210016,中国东海实验室,舟山 316021,中国中国机械总院集团北京机电研究所有限公司,北京 100044,中国
信息技术与安全科学
多飞行机械臂时延估计终端滑模协同控制
multiple aerial manipulatorstime-delay estimation(TDE)terminal sliding modecollaborative control
《南京航空航天大学学报（英文版）》 2026 (2)
225-237,13
This work was supported in part by the National Natural Science Foundation of China(Nos.52575120,52175097)and Key Research and Develop-ment Program of Zhejiang(No.2024SSYS0089).
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